Methods for height profile recognition, guidance and volume determination during the conversion of compost heaps

Abstract

Radar technology allows for the continuous recording of the compost heap's elevation profile while driving. This technology is characterized by its robustness against environmental conditions such as steam or precipitation, enabling reliable tracking and volume measurement even under adverse conditions. Tracking and volume determination based on the elevation profile, derived from the radar's point cloud, can also be applied to other industries such as agriculture, mining, and construction.

Description

[0001] The invention relates to a method for height profile detection, track guidance and volume determination during the conversion of compost heaps.

[0002] EP 0152524 B1 discloses a “process for composting organic waste, in particular cemetery and garden waste, in which the waste is shredded and placed in compost heaps for decomposition”.

[0003] To optimize and accelerate the fermentation process when composting food waste, green waste, manure, etc., it is important that the compost heaps are regularly turned. For large compost heaps, mobile machines, known as heap turners, are used. To ensure optimal turning, it is important that the machine stays on track and is positioned centrally over the compost heap. Various sensors are used for this purpose.

[0004] Today's windrow turners are operated either directly from the cab or by remote control. Ultrasound or optical systems such as line scanners or cameras are used to detect the top and edges of the compost windrows. These systems have the disadvantage of being dependent on environmental conditions. For example, ultrasound is dependent on wind, and optical systems are negatively affected by rising fermentation vapors, which in turn impacts the detection of the compost windrow.

[0005] The object of the invention is to provide a method for height profile detection, track guidance and volume determination during the implementation of compost heaps, which does not have the disadvantages mentioned above.

[0006] This object is achieved by the method specified in claim 1. Advantageous further developments of the invention are specified in the subclaims.

[0007] The main idea of ​​the invention is to record the height profile of the compost heap using a radar sensor.

[0008] For environmentally independent, reliable operation, particularly with regard to the autonomous driving of these work machines, the invention provides a method that is based on a robust technology and which cannot be influenced by vapors or other weather conditions.

[0009] The invention is explained in more detail below using an exemplary embodiment. The figures show: Fig. 1 co-turner with a frontal heap Fig. 2 rental converters with a rental sideways Fig. 3 Point cloud as height profile of a compost heap Fig. 4 fitted Gaussian function to a measured height profile according to Fig. 3

[0010] Fig. Figure 1 shows a windrow turner (mobile work machine) driving over a windrow. A radar sensor covering an aperture angle α records the height profile of the compost windrow.

[0011] Fig. 2 shows a side view of a rental converter

[0012] Fig. Figure 3 shows a point cloud of a compost heap. The point cloud represents the elevation profile.

[0013] Fig. 4 shows a Gaussian function as a fit to a measured height profile according to Fig. 3

[0014] View: According to the invention, a first radar sensor is used to detect the height profile of the compost pile. Another radar sensor is used to determine the speed of the pile turner, thus additionally enabling volume determination.

[0015] To determine the elevation profile of the compost pile, a radar sensor—in this case a full MIMO sensor—is used to detect the point cloud, i.e., the reflected targets of the compost pile. Each point is characterized by a distance value, a position (x, y, z), a speed, a power, and an RCS value. Based on the position or distance between the points, conclusions can be drawn about the elevation profile of the compost pile. Fig. 1)

[0016] The point cloud allows the apex and edge points of the compost pile to be identified. Using these points, the vehicle can determine the optimal path by aligning the vehicle's center with the apex of the pile.

[0017] A curve fitting can be performed based on the point cloud. In this case, various mathematical functions, such as the Gaussian function, can be used to derive a curve based on the points that mimics the shape of the compost heap.

[0018] Based on the stack profile determined by the radar sensor, the vehicle's speed can also be used to determine the stack volume. The vehicle's speed can be determined either directly using the profile sensor or with a separate radar sensor. It should be noted that speed determination is also possible based on other sensor principles and is considered within the scope of the patent.

[0019] The volume is of particular interest to the machine operator, as the volume of the stacks decreases over time. The method described makes it possible to monitor the volume. With each recirculation process, the volume can be re-determined, and the reduction can thus be documented.

[0020] The technology described is not limited to rental turners. It can also be used in other applications, such as in agriculture, for tractor lane detection during harvesting operations.

[0021] In construction and recycling machines, such as grinders, pre-shredders, screening machines for detecting the height profile / volume determination of the conveyed quantity on the conveyor belt or for detecting the loading height and speed of the conveyed quantity on the screening machine. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 0152524 B1

[0002]

Claims

[1] Method for height profile detection and / or tracking and / or volume determination during the implementation of compost heaps, characterized by that the height profile of the compost heap is recorded with a radar sensor. [2] Method according to claim 1, characterized by that the tracking of the rental converter is carried out along the median of the elevation profile. [3] Method according to claim 1 or 2, characterized by that when turning the compost heap, the speed of the heap turner is recorded in order to determine the volume of the compost heap processed. [4] Method according to one of the preceding claims, characterized by that the elevation profile is adjusted using a mathematical distribution function. [5] Method according to claim 4, characterized by that the mathematical function is a Gaussian distribution.

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